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Titel:

Admissible Thrust Control Laws for Quadrotor Position Tracking

Dokumenttyp:
Konferenzbeitrag
Art des Konferenzbeitrags:
Textbeitrag / Aufsatz
Autor(en):
Falconi, G.; Fritsch, O.; Lohmann, B.; Holzapfel, F.
Abstract:
In this paper a hierarchical position tracking controller for a quadrotor is presented, which consists of an inner attitude controller and an outer position controller. The tracking error dynamics form a nonautonomous cascade built up by a linear attitude error subsystem and a linear position error subsystem, coupled by a nonlinear interconnection term. The stability properties of the cascaded system essentially rely on the characteristics of the interconnection term, which strongly depends on t...     »
Kongress- / Buchtitel:
Proceedings of the American Control Conference
Jahr:
2013
Jahr / Monat:
2013-06
Monat:
Jun
Nachgewiesen in:
Scopus
Reviewed:
ja
Sprache:
en
WWW:
http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6580588&tag=1
Hinweise:
- The paper received the Best Presentation in Session Award -
TUM Einrichtung:
Lehrstuhl für Regelungstechnik
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